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Fix trackback error

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This commit is contained in:
breadoven 2024-05-13 17:32:14 +01:00
parent 75ea2ce417
commit 6f4ff6b4de
1 changed files with 2 additions and 5 deletions
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7
src/main/navigation/navigation.c
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@ -1448,10 +1448,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
} }
else { else {
// Switch to RTH trackback // Switch to RTH trackback
bool trackbackActive = navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_ON || if (rthTrackBackIsActive() && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) {
(navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_FS && posControl.flags.forcedRTHActivated);
if (trackbackActive && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) {
rthTrackBackUpdate(true); // save final trackpoint for altitude and max trackback distance reference rthTrackBackUpdate(true); // save final trackpoint for altitude and max trackback distance reference
posControl.flags.rthTrackbackActive = true; posControl.flags.rthTrackbackActive = true;
calculateAndSetActiveWaypointToLocalPosition(getRthTrackBackPosition()); calculateAndSetActiveWaypointToLocalPosition(getRthTrackBackPosition());
@ -3200,7 +3197,7 @@ bool rthAltControlStickOverrideCheck(uint8_t axis)
(axis == ROLL && STATE(MULTIROTOR) && !posControl.flags.rthTrackbackActive)) { (axis == ROLL && STATE(MULTIROTOR) && !posControl.flags.rthTrackbackActive)) {
return false; return false;
} }
static timeMs_t rthOverrideStickHoldStartTime[2]; static timeMs_t rthOverrideStickHoldStartTime[2];
if (rxGetChannelValue(axis) > rxConfig()->maxcheck) { if (rxGetChannelValue(axis) > rxConfig()->maxcheck) {